CN108810402A - Device for image stabilization and its control method and storage medium - Google Patents

Abstract

The present invention relates to a kind of device for image stabilization and its control method and storage mediums.Described image stabilizing equipment includes：Holding unit, for keeping camera unit；Rotating unit, for making the holding unit rotate；Computing unit, for calculating the blurred image residual correcting value after carrying out image blur correcting using the first image blur correcting unit；Second image blur correcting unit corrects the fuzzy residual correcting value of described image for using the method different from the method for described first image ambiguity correction unit；And change unit, for rotational angle and the fuzzy residual correcting value of described image based on the rotating unit, the distribution between corrected recoverable range and the recoverable range of second image blur correcting unit is obscured changing second image blur correcting unit to the image along the horizontal or vertical direction in imaging surface.

Description

Device for image stabilization and its control method and storage medium

Technical field

The present invention relates to the blurred image technologies of image caused by for correcting the shake by equipment.

Background technology

Traditionally, it is known to method of the following methods as the device for image stabilization installed in picture pick-up device.As one A this method exists for by making lens or imaging sensor in the plane vertical with optical axis according to camera-shake amount It moves to inhibit the blurred image method of the image in imaging surface.There is also for by making imaging sensor rotate on optical axis To correct caused blurred image method is rotated by rolling.In addition, there is also for rotationally driving including shooting optical system The lens barrel of system and imaging sensor is to eliminate the rotation shake of camera and correct blurred image method.

In addition, in moving image capture, exist for being exported in imaging sensor by electronic calibration to correct The various blurred image methods occurred in photographed frame image.It is clapped for example, Japanese Unexamined Patent Publication 2011-029735 is disclosed for calculating The method taken the photograph the anamorphose amount of image and make anamorphose to eliminate the anamorphose amount.

In addition, the correction that patent document 2 is distorted about Rolling shutter, discloses and is drawn by the handshaking of photographer for correcting The technology of the distortion risen.In the equipment described in Japanese Unexamined Patent Publication 2006-186481 (patent document 2), for imaging sensor Each row change read-out position with the upward camera-shake of correction water square, and in vertical direction change the row to be read Position to correct the camera-shake in vertical direction.

Incidentally, exist for correcting blurred image method using image blur correcting mechanism, wherein in the figure It, will be for rotationally driving the mechanism of camera unit entirety to be incorporated in a part, outside for picture pick-up device as in ambiguity correction mechanism In portion's holder or electronic stabilizer, wherein the camera unit includes：Imaging optical system is used to form subject image；And Imaging sensor, for shooting the subject image for having passed through imaging optical system.

In this image blur correcting mechanism using rotation driving, it is expected that including the rotation driving list for three axis Member, and if the driving for three axis can be carried out, high image blur correcting effect may be implemented.However, another There is increase of the increase of instrument size and power consumption etc. in aspect.Here, be shot by what composition changed In the case of body search etc., the inclination rotation driving around optical axis is not necessary, and there is also can largely be put down Shake driving and the case where pitch drives are sufficient.In this case, without rolling rotation driving, and by using can be with The mechanical structure for carrying out the rotation driving (that is, yawing driving and pitch drives) around only two axis, can prevent instrument size Increase the increase with power consumption.

However, in the case of the device for image stabilization only with two-axis rotating mechanism, have the following problems：Although can To correct the rotation shake in two axis directions, but the image blur correcting for a remaining axis cannot be carried out.

For example, as Fig. 2A, consider that the direction of the optical axis of lens barrel is consistent with Z axis (that is, inclination rotation axis in Fig. 2 B) The case where.In such a case, it is possible to carry out the figure in the horizontal direction in imaging surface by driving yawing rotating unit 105 As ambiguity correction, but the image blur correcting in rotational direction in imaging surface cannot be carried out.In addition, as Fig. 2 C, in mirror The direction of the optical axis of cylinder can pass through driving yawing rotation list under Y-axis (that is, sideway rotation axis in Fig. 2 B) unanimous circumstances Member 105 carries out the image blur correcting in rotational direction in imaging surface, but cannot carry out in imaging surface in the horizontal direction Image blur correcting.

Invention content

The present invention makes in view of the above problem, and allows in only setting with two-axis rotating mechanism High image blur correcting effect is realized about the axis that cannot be rotated in standby.

According to the first aspect of the invention, a kind of device for image stabilization is provided, including：Holding unit, for keeping camera shooting Unit, the camera unit are formed by subject image for shooting imaging optical system；Rotating unit, for making the guarantor Unit is held to rotate in two axis directions；Computing unit is used for output and the first image based on shaking detection unit and obscures school The amount of movement of positive unit, it is blurred image after described first image ambiguity correction unit progress image blur correcting to calculate Correcting value is remained, wherein the shaking detection unit is for detecting the shake of described image stabilizing equipment and first figure Institute caused by being used to correct the shake by described image stabilizing equipment by driving the rotating unit as ambiguity correction unit The image stated in the imaging surface of camera unit is fuzzy；Second image blur correcting unit is used for use and described first image mould The different method of the method for correction unit is pasted, to correct blurred image residual correcting value；And change unit, for being based on institute The rotational angle of rotating unit and blurred image residual correcting value are stated, to change second image blur correcting unit to institute State in the imaging surface of camera unit in the horizontal direction or the image of vertical direction obscure corrected recoverable range and Second image blur correcting unit obscures corrected recoverable to the image in rotational direction in the imaging surface Distribution between range.

According to the second aspect of the invention, a kind of control method of device for image stabilization, described image stabilizing equipment are provided Including：Holding unit, for keeping camera unit, the camera unit to be formed by subject for shooting imaging optical system Image；And rotating unit, for making the holding unit be rotated in two axis directions, the control method includes：It is based on The output of shaking detection unit and the amount of movement of the first image blur correcting unit, to calculate described first image ambiguity correction list Member carries out the blurred image residual correcting value after image blur correcting, wherein the shaking detection unit is described for detecting The shake of device for image stabilization and described first image ambiguity correction unit are used to correct by driving the rotating unit Image in the imaging surface of the camera unit caused by shake by described image stabilizing equipment obscures；Using for use with The method that the method for described first image ambiguity correction unit is different corrects blurred image the second image mould for remaining correcting value Paste correction unit, to correct blurred image residual correcting value；And the rotational angle based on the rotating unit and image mould The residual correcting value of paste, come change second image blur correcting unit in the imaging surface of the camera unit along level The image of direction or vertical direction obscures corrected recoverable range and second image blur correcting unit to institute It states the image in rotational direction in imaging surface and obscures distribution between corrected recoverable range.

According to the third aspect of the invention we, a kind of computer readable storage medium is provided, program is stored, described program is used In each step for the control method for making computer execution device for image stabilization, described image stabilizing equipment includes：Holding unit is used In keeping camera unit, the camera unit is for shooting the subject image formed by imaging optical system；And rotation is single Member, for making the holding unit be rotated in two axis directions, the control method includes：Based on the defeated of shaking detection unit Go out the amount of movement with the first image blur correcting unit, the fuzzy school of image is carried out to calculate described first image ambiguity correction unit Blurred image residual correcting value after just, wherein the shaking detection unit is for detecting trembling for described image stabilizing equipment Dynamic and described first image ambiguity correction unit is used to be set by described image stabilization to correct by driving the rotating unit Image in the imaging surface of the camera unit caused by standby shake is fuzzy；It is obscured with described first image using for using The method that the method for correction unit is different corrects blurred image the second image blur correcting unit for remaining correcting value, to correct Blurred image residual correcting value；And the rotational angle based on the rotating unit and blurred image residual correcting value, come Change second image blur correcting unit in the imaging surface of the camera unit in the horizontal direction or vertical direction Image obscures corrected recoverable range and second image blur correcting unit and turns to the edge in the imaging surface The image in dynamic direction obscures the distribution between corrected recoverable range.

By the explanation below with reference to attached drawing to exemplary embodiments, other feature of the invention will be apparent.

Description of the drawings

Figure 1A~1F is the figure for illustrating the blurred image definition in the embodiment of the present invention.

Fig. 2A~2D is the figure for schematically showing camera according to the embodiment.

Fig. 3 is the figure for the structure for showing the camera in first embodiment.

Fig. 4 A and 4B are the flow charts for showing the jitter correction processing in first embodiment.

Fig. 5 is the block diagram of the control unit of first embodiment.

Fig. 6 A and 6B are the figures of the definition for illustrating the axis in first embodiment.

Fig. 7 A and 7B are the figures for illustrating pinhole camera model.

Fig. 8 is the block diagram of the anamorphose amount computing unit in first embodiment.

Fig. 9 A and 9B are the definition graphs of the rotation axis conversion in first embodiment.

Figure 10 A and 10B are the figures of the variation for the correct ratio for showing the variation for angle of inclination in first embodiment.

Figure 11 is the block diagram of the balance correction amount computing unit in first embodiment.

Figure 12 is the block diagram for stirring (elevation) correction amount calculating unit in first embodiment.

Figure 13 is the block diagram of the rotation correction amount calculating unit in first embodiment.

Figure 14 is the block diagram of the anamorphose amount computing unit in second embodiment.

Figure 15 is the block diagram of the Rolling shutter distortion correction amount computing unit of second embodiment.

Figure 16 is the block diagram of the rotation Rolling shutter distortion correction amount computing unit in second embodiment.

Figure 17 is the block diagram of the anamorphose amount computing unit in 3rd embodiment.

Figure 18 is the figure of the structure of the picture pick-up device in fourth embodiment.

Specific implementation mode

Carry out the embodiment that the present invention will be described in detail below with reference to attached drawing.Here, will illustrate in the embodiment of the present invention Blurred image definition.The vibration for being applied to picture pick-up device is defined as " shaking ", and will be by being applied to trembling for picture pick-up device The deformation of shooting image caused by dynamic is known as " image is fuzzy ".Specifically, in an embodiment of the present invention, such as Figure 1A~1F institutes Show, will (horizontal and vertical) translation, rotation, (horizontal and vertical) stir, the deformation component system of amplification/diminution and shear etc. Referred to as " image is fuzzy ".

First embodiment

Fig. 2A~2D is the figure of the camera 101 for the first embodiment for schematically showing the picture pick-up device as the present invention. Camera 101 shown in Fig. 2A is provided with power switch and can carry out the operating member etc. of camera operation.Lens barrel 102 is installed To camera 101, wherein the lens barrel 102 integrally comprise as the imaging optical system imaged capture lens group and Imaging sensor.In addition, camera 101, which has, allows to lens barrel 102 relative to the rotation of fixed cell (main unit) 103 Ground drives the mechanism of (rotation).

Tilt rotation unit 104, which has, rotationally to drive the motor of lens barrel 102 to drive along pitch orientation shown in Fig. 2 B Motivation structure, and yawing rotating unit 105 has the motor that lens barrel 102 can be rotationally driven along yaw direction shown in Fig. 2 B Driving mechanism.Therefore, camera 101 has the mechanism for rotationally driving lens barrel 102 along two axis directions.Shown in Fig. 2 B Axis is defined in the position relative to fixed cell 103.The established angle speedometer on the fixed cell 103 of camera 101 106。

Fig. 3 is the block diagram of all structures for the camera 101 for showing the present embodiment.In figure 3, zoom unit 201 includes Carry out the zoom lens of zoom.Zoom drive control unit 202 controls the driving of zoom unit 201, and detects coke at this time Away from (focal length detection).Focus unit 203 includes carrying out the lens of focus adjustment.The control focusing of drive control unit 204 of focusing is single The driving of member 203.Camera unit 205 have imaging sensor, receive via lens group incidence light, and will with based on the light The related information of charge of amount is exported as simulated image data to image processing unit 206.Note that zoom unit 201, focusing Unit 203 and the configuration of camera unit 205 are in lens barrel 102.

Image processing unit 206 to simulated image data to by carrying out the accessed digital image data of A/D conversions Using the image procossing of distortion correction, blank level adjustment and color interpolation processing etc., and export using after the processing Accessed digital image data.The digital image data is converted further into the format for meeting NTSC or PAL etc. Vision signal, and these vision signals are supplied to video memory 207.Anamorphose unit 208 is based on control unit 213 calculated anamorphose amount so that the picture signal stored in video memory 207 is deformed, and after output skew Picture signal, wherein these deformed picture signals are recorded in such as nonvolatile memory by image recording unit 209 Deng recording medium in.

Lens barrel rotates the peaceful rocking-turn moving cell 105 of 212 drive incline rotating unit of driving unit 104 so that lens barrel 102 exists It is rotated on inclined direction and yawing direction.For example, the angular speed for detecting angular speed of the camera 101 in three axis directions Meter (gyro sensor) 106 is incorporated in vibration equipment detection unit 210.

Operating unit 211 is in order to operate set operating member to system, and with power knob and can The button etc. that setting to change camera is utilized.In the case where operating power knob, according to purposes come complete to system Body supplies electric power, and camera 101 is made to start.It is all that control unit 213 controls camera 101.

Fig. 4 A and 4B show for illustrate the present embodiment for correcting shake by camera 101 caused by image obscure Routine flow chart.The flow chart is repeated when connecting the power supply of camera, and by scheduled sample frequency.

In the case where operating the power knob of operating unit 211, in step S301, first from fixed cell 103 On the angular speed meter 106 installed obtain the angular speed output of three axis, and process enters step S302.

In step s 302, lens barrel rotation driving unit 212 is according to 104 peace rocking-turn moving cell 105 of tilt rotation unit The output of the middle encoder that can obtain rotational angle installed respectively obtains current yawing/oblique angular position, and mistake Journey enters step S303.

Fig. 5 is the figure for showing the block structure for calculating yawing/tilt rotation correcting value and electronic image ambiguity correction amount. As shown in Figure 2 A, angular speed meter 106 configuration on camera fixed cell 103, and the rotation axis of yawing rotating unit 105 with Rotation axis in the yaw direction of angular speed meter 106 is consistent.Thus, it is removed from angular speed by using HPF (high-pass filter) It counts the low-frequency component of the yaw velocity of 106 outputs and then angular transition is carried out by Integral Processing, yawing side can be calculated Jitter correction angle in (yaw direction).It is then possible to by driving yawing to turn with being based on the jitter correction angular turn Moving cell 105 carries out the jitter correction on yawing direction.Thus, the yawing that driving unit 212 is rotated to calculate lens barrel turns The target angle in dynamic portion 407 calculates yawing side in step S303 according only to the yaw velocity output of angular speed meter 106 Upward jitter correction target angle, and process enters step S304.

In step s 304, according to the output of the rate of pitch of angular speed meter 106 and roll velocity and in step The current yawing angular position information that is got in S302 calculates the jitter correction target angle on inclined direction.About inclination Direction, the established angle speedometer 106 on camera fixed cell 103, thus for carrying out the jitter correction on inclined direction Correcting value changes according to the rotational angle of yawing rotating unit 105.

It can be detected as Fig. 2 B at the position of angular speed meter 106, the i.e. position of camera fixed cell 103 Angular speed in the axis direction of definition.Exist in the rotation of (when as shown in Figure 6A, X-axis is oriented vertical with optical axis always) yawing In the case of occurring at positive position, the axis of tilt rotation unit and the bowing for Fig. 2 B of the jitter correction on inclined direction can be carried out It is consistent to face upward axis.Therefore, according only to rate of pitch output jitter correction target angle is tilted to calculate.In addition, (as such as Fig. 6 B Shown, Z axis was oriented always with optical axis when vertical) in the case that yawing rotational angle is 90 degree from positive position, inclination The axis of rotating unit is consistent with the roll axis of Fig. 2 B, thus tilts jitter correction target according only to roll velocity output to calculate Angle.In the case of angle between yawing rotational angle is located at these axis, pitching is synthesized based on the yawing rotational angle Angular speed and roll velocity converted to the rotation direction of the axis of tilt rotation unit 104, and are calculated on inclined direction Angular speed.

Equation in inclined direction angular speed rotation axis converting unit 403 in Fig. 5 is expressed as expression formula 1.

Wtl=Wxcos θ y+Wzsin θ y ... (1)

(Wtl：Inclined direction angular speed,

Wx：Pitching jitter correction angle,

Wz：Jitter correction angle is rolled, and

θy：Yawing rotational angle relative to positive position)

Using the inclined direction angular speed being computed as described above out, tilts jitter correction angle calculation unit 404 and calculate and incline Oblique 408 drive incline rotating unit 104 of rotation section is to carry out the inclination jitter correction target angle used in jitter correction.By making Low-frequency component is removed from inclined direction angular speed Wtl and then be at an angle of result conversion by Integral Processing with HPF, it can To calculate the jitter correction target angle on inclined direction.

In step s 304, using following methods, according to rate of pitch and roll velocity from angular speed meter 106 And the current yawing angle from yawing rotating unit 105 calculates inclined direction jitter correction target angle, and process Enter step S305.

In step S305~S315, carry out for calculating the processing of anamorphose amount to carry out electricity by anamorphose Sub- jitter correction, but will be described for calculating the anamorphose amount of shooting image first and then make anamorphose to eliminate the figure The method of distortion of image amount.

Anamorphose unit 208 using the geometric transformation such as projection transform such as carrying out anamorphose.Specifically, Pixel coordinate in the image before deformation is (X0, Y0) (note that by shooting corresponding with the optical axis of imaging optical system The centrally disposed of image is origin) and deformed image in pixel coordinate be (X1, Y1) in the case of, if using Homogeneous coordinates show, then anamorphose can be described as to expression formula 2.

The left and right side of expression formula 2 has equivalence relation, and (when any multiplier is multiplied by left or right side, meaning will not Change), and if using common equal sign, expression formula 2 is expressed as expression formula 3 or 4.

In expression formula 2,3 × 3 matrix is commonly known as projection transform matrix, and calculates list using anamorphose amount Matrix element h1~h8 is arranged in member 409.Note that in the following description, carrying out anamorphose using projection transform, but can make With any deformation method of affine transformation etc..

Then, it will be explained in the processing that anamorphose amount computing unit 409 is carried out.Anamorphose amount computing unit 409 calculate anamorphose amount using the focal length of residual shake angle and imaging optical system in imaging surface.Specifically, it calculates Projection transform matrix in expression formula 2.

Here, it will be described below calculating projection transform for using the focal length of residual shake angle and imaging optical system The method of matrix.Fig. 7 A show projection of the subject carried out by picture pick-up device in imaging surface as pinhole camera model.? In Fig. 7 A, needle hole location of the XYZ space origin (0,0,0) in pinhole camera model.If imaging surface configures Rear side in pin hole position, then the image being projected in imaging surface stands upside down, thus Fig. 7 A show imaging surface I virtual ground bits in pin hole The front of position makes image not stand upside down and is easily processed.

The distance in Z-direction between XYZ space origin (0,0,0) and imaging surface I is equal to focal length f.It will Coordinate on imaging surface I is defined as uv plane coordinates, and the origin (0,0) of uv plane coordinates on XYZ space coordinate (0, 0, f) consistent.Coordinate P (u, v) on uv plane coordinates, which is subject A (X, Y, Z) on XYZ space coordinate, to be taken the photograph being projected to Coordinate when on image planes I.At this point it is possible to which coordinate P is expressed as expression formula 5.

Using homogeneous coordinates, expression formula 5 can be expressed as expression formula 6.

In the present embodiment, the element in the 4th row of 3 × 4 matrix of expression formula 6 is 0, thus expression formula 6 is changed Any difference is not will produce for expression formula 7.

Fig. 7 B are the figures for showing to make the pinhole camera model in Fig. 7 A to carry out the state that R is rotated.In figure 7b, will lead to It crosses coordinate accessed after making the coordinate of the XYZ space in Fig. 7 A carry out R rotations and is known as X ' Y ' Z ' space coordinates.X ' Y ' Z ' are empty Between origin (0,0,0) and XYZ space origin (0,0,0) it is consistent.Specifically, Fig. 7 B show in a simplified manner with Lower state is as pinhole camera model：The R being had occurred on picture pick-up device on third direction (that is, direction of shooting optical axis) turns Dynamic shake, and the parallel shake moved in parallel as picture pick-up device not yet occurs.

Identical as Fig. 7 A in the pinhole camera model of Fig. 7 B, imaging surface I ' is configured to be separated with origin (0,0,0) At the position of focal length f.Coordinate on imaging surface I ' is defined as u ' v ' plane coordinates, and u ' v ' plane coordinates origin (0, 0) and (0,0, f) in X ' Y ' Z ' space coordinates is consistent.Coordinate P ' (u ', v ') on u ' v ' plane coordinates is that the spaces X ' Y ' Z ' are sat Coordinates of the subject A ' (X ', Y ', Z ') put on when projecting on imaging surface I '.Note that subject A and Fig. 7 B in Fig. 7 A In positions of the subject A ' in world coordinate system it is identical (this means that subject not yet moves).At this point, with 7 phase of expression formula Together, if using homogeneous coordinates, coordinate P ' can be expressed as to expression formula 8.

In addition, positions of the subject A and subject A ' in world coordinate system is identical, thus can be by these subjects The relationship of coordinate is expressed as expression formula 9.

In addition, if being converted to expression formula 7 and 8 and substituting into expression formula 9, then expression formula 10 can be derived.

The position of subject image before and after the R rotations of the expression pinhole camera of expression formula 10, in imaging surface Correspondence.Specifically, which shows the picture on the image taken when applying R rotation shakes to picture pick-up device The starting points and end point of the movement of element.Thus, it carries out for making the pixel amount of movement applied to picture pick-up device when shaking return To its original value to correct the conversion of image fuzzy quantity, this is sufficient.Therefore, according to expression formula 11, apply R to picture pick-up device The de-rotation of rotation.

Thus, the focal length for being dithered as R, imaging optical system of picture pick-up device is in application to for f and for carrying out image In the case that the projection transform matrix of ambiguity correction is H, H is expressed as expression formula 12.

Note that (wherein, which has been applied to camera shooting and sets the shake along first direction in the plane vertical with optical axis It is standby) in YAW (sideway) direction on angle jitter amount be that edge in θ y and the plane vertical with optical axis and first direction hang down The angle jitter amount on PITCH (pitching) direction in shake in straight second direction is θ p and ROLL (inclination) direction On angle jitter amount be θ r in the case of, R can be expressed as to expression formula 13.

The H in expression formula 12 can be resolved into deformation component using expression formula 14, such as translatedAmplification/diminution s (constant) rotates r (matrix), shear k (matrix) and stirsDeng.

Here,

Tx is horizontal translation amount,

Ty is vertical translation amount,

θ is rotational angle,

Vx is the level amount of stirring,

Vy is the vertical amount of stirring,

α is the anisotropy multiplying power of shear, and

It is the deflection of shear.

Using expression formula 12,13 and 14 come when solving equation related with each deformation component, get expression formula 15~ 22。

Tx=f (tan θ ycos θ r/cos θ p+tan θ psin θ r) ... (15)

Ty=f (- tan θ ysin θ r/cos θ p+tan θ pcos θ r) ... (16)

θ=- θ r ... (17)

Vx=-tan θ y/f ... (18)

Vy=-tan θ p/ (fcos θ y) ... (19)

S=(cos θ ycos θ p)^-3/2…(20)

α=(cos θ pcos θ y)^1/2…(21)

It here, can be similar in the case that the shake angle for being in application to picture pick-up device is γ and the value is not high γ=1 cos, γ=0 γ tan sin and γ=0 sin γ sin, and expression formula 15~22 can be expressed as expression formula 23~ 30。

Tx=ftan θ y ... (23)

Ty=ftan θ p ... (24)

θ=- θ r ... (25)

Vx=-tan θ y/f ... (26)

Vy=-tan θ p/f ... (27)

S=1 ... (28)

α=1 ... (29)

The structure of the anamorphose amount computing unit 409 in the present embodiment is specifically described below with reference to Fig. 8~13 And operation.

In the present embodiment, cutting in the deformation component for the anamorphose that anamorphose unit 208 is carried out is not illustrated Become component and amplification/diminution component.However, it is possible to carry out and cut using according to expression formula 20~22 or expression formula 28~30 Become the structure of component and amplification/related anamorphose of diminution component.

First, in the step S305 of Fig. 4 A, by being got to the angular speed meter 106 from installation to fixed cell 103 The output of angular speed of three axis carry out rotation conversion and calculate angular speed, wherein rotation conversion is around relative to including image The axis of the lens barrel of sensor carries out.

The axis relative to camera fixed cell 103 is defined as Fig. 9 A.Angle in the rotation direction (pitching) of X-axis Speed is Wx, and the angular speed in the rotation direction (sideway) of Y-axis is Wy, and the angle in rotation direction (inclination) about the z axis Speed is Wz.In addition, as Fig. 9 B by relative to the axis of the lens barrel 102 as camera rotating unit be defined as X ', Y ', Z ', and the angular speed in the rotation direction of X ' axis is Wx ', the angular speed in the rotation direction of Y ' axis is Wy ' and around Z ' Angular speed in the rotation direction of axis is Wz '.In addition, being θ x by making Y-axis Z axis to tilt accessed angle, pass through It is θ y so that Z axis is tilted accessed angle towards X-axis, and is θ by making X axis Y-axis to tilt accessed angle z。

θ x, θ y and θ z are individually the angle of the difference between fixed cell 103 and rotating unit (lens barrel) 102, but can be only Rotating unit 102, thus the direction in addition to the two axis are driven along two axis (that is, on inclined direction and yawing direction) θ z are always 0.

Here it is possible to by the Rotation matrix of X-axis, Y-axis and Z axis in three dimensions be expressed as expression formula below 31~ 33。

In the rotation axis converting unit 504 of Fig. 8, it is contemplated that the rotational angle of lens barrel will be configured on fixed cell 103 The output of angular speed meter 106 be converted into the angular speed according to the definition of the axis based on imaging surface.Can using angular speed meter come Detect the rotational angular velocity Wx around X-axis, the rotational angular velocity Wy around Y-axis and rotational angular velocity Wz about the z axis.

The angular speed W (expression formula 34) of fixed cell 103 is converted into the angle of the lens barrel after rotation using expression formula 36 Speed W ' (expression formula 35).

W'=Rx (θ x) Ry (θ y) W (36)

By using the above method, can will be detected at fixed cell 103 using yawing angle and angle of inclination Three axis angular speed be converted into lens barrel (rotating unit) 102 three axis angular speed (PitchIm, YawIm and RollIm)。

Then, in the step S306 of Fig. 4 A, by differentiator 501 to being got from yawing/inclination current location 401 Angle of inclination carries out differential and tilts angular speed (TiltSpd) to calculate.In addition, again by differentiator 502 to yawing angle into Row differential calculates yawing angular speed (PanSpd).Then, which enters step S307.

In step S307, rotation axis converting unit 503 is converted yawing angular speed (PanSpd) using angle of inclination At the mechanical checkout angular speed of the axis along lens barrel (rotating unit) 102.Specifically, it is contemplated that tilt angle theta tl, it will be by right Yawing angle carries out the definition that the yawing angular speed Wpa (PanSpd) accessed by differential is converted into axis of the basis based on imaging surface Yaw angular speed Wya (YawPn) and Roll angular speed Wrl (RollPn).At this point, tilt rotation axis and the pitching in imaging surface Rotation axis is consistent, thus can ignore pitching rotating shaft, and gets expression formula 37.

Then, in step S308, the driving angular speed (PitchTlt) of tilt rotation unit 104 is calculated.At this point, tilting Driving on direction is not affected on the direction in imaging surface and (causes vertical hunting always), thus will tilt angular speed (TiltSpd) it is set as mechanical checkout rate of pitch (PitchTlt) without change.

In step S309, by subtracter 505,506 and 507 from the angular speed for the rotation axis for having been converted to lens barrel 102 Mechanical checkout angular speed (PitchTlt, YawPn and RollPn) is subtracted in (PitchIm, YawIm and RollIm), to count respectively Calculate machinery residual correction angular speed (PitchErr, YawErr and RollErr).

In step S310, focal length is calculated according to the zoom position of imaging optical system, and process enters step S311.In step S311, based on the current tilt angle from yawing/inclination current location 401, limit value calculating unit 508 calculate the correction limits value for the various corrections carried out by anamorphose.

Here, it will be explained in limit value calculating unit 508.In order to electronically correct image mould by anamorphose Paste needs the size for output image to ensure to deform required additional pixels.It here, can be along two axis if including The lens barrel that (that is, yawing direction and inclined direction as shown in Fig. 2A~2D) rotationally drives, then by paying close attention to each jittering component, Vertical hunting in image and vertical can be corrected before light is incident in imaging surface by drive incline rotating unit 104 It stirs.Thus, the mobile range (recoverable range) of the electronic image ambiguity correction in vertical direction is without very big.

However, in the case where driving yawing rotating unit 105 to carry out jitter correction, for the shake in imaging surface The influence of correction is different according to angle of inclination.For example, as Fig. 2A, the direction of the optical axis of lens barrel and Z axis be (that is, Fig. 2 B Inclination rotation axis) under unanimous circumstances, can by drive yawing rotating unit 105 carry out in imaging surface along level side To (translation direction, stir) image blur correcting.However, the image mould in rotational direction in imaging surface cannot be corrected Paste.In addition, as Fig. 2 C, the direction of the optical axis of lens barrel and Y-axis (that is, sideway rotation axis in Fig. 2 B) unanimous circumstances Under, by driving yawing unit image blur correcting can be carried out in the rotation direction in imaging surface.However, cannot correct (translation or stirring) image in the horizontal direction in imaging surface is fuzzy.

It shake in horizontal direction in image and stirs or rotates shake and changed according to the angle of tilting unit.Root According to expression formula 37, by the Yaw angular speed Wya (YawPn) and the angles Roll speed accessed by the definition of the axis based on imaging surface Degree Wrl (RollPn) is expressed as expression formula 38 and expression formula 39.

Wya=Wpacos θ tl ... (38)

Wrl=Wpasin θ tl ... (39)

In addition, in the case where defining Ky and Kr as in expression formula 40 and expression formula 41, indicate relative to inclination The curve graph of the variation of the Ky and Kr of the variation of angle, θ tl is as shown in Figure 10 A.

Ky=cos θ tl ... (40)

Kr=sin θ tl ... (41)

Thus, in the case where yawing angular speed Wpa (PanSpd) is 100, Ky's and Kr corresponding with angle of inclination The ratio (Ay, Ar) of size is as shown in Figure 10 B.Here, Wya indicates (translate or stir) in the horizontal direction in imaging surface Blurred image influence, and Wrl indicates the blurred image influence in rotational direction in imaging surface.Therefore, if according to Angle of inclination will correct correction of the limits value relative to the electronic calibration of rotation for the electronic calibration for translating and stirring The ratio setting of limits value is the ratio of Figure 10 B, then can be directed to various shakes ensures correcting value appropriate.

For example, as Fig. 2A, the optical axis direction of lens barrel and Z axis (that is, inclination rotation axis in Fig. 2 B) constitute it is small In the case of angle (tilt rotation angle is small), height, and needle are set to for the correction limits value of the electronic calibration of rotation The correction limits value of electronic calibration to translating and stirring is set to low.It is thus impossible in the rotation direction mechanically corrected The jitter correction effect of electronic calibration can be set to height, and even if there is a situation where big shakes in rotation direction Under, jitter correction appropriate can also be carried out.In addition, as Fig. 2 C, the optical axis direction of lens barrel and Y-axis be (that is, in Fig. 2 B Sideway rotation axis) constitute small angle (tilt rotation angle is big) in the case of, for the school for the electronic calibration for translating and stirring Positive limits value is set to height, and is set to for the correction limits value of the electronic calibration of rotation low.It is thus impossible to mechanical The jitter correction effect of translation and the electronic calibration stirred in the horizontal direction of ground correction can be set to height, and even if In the case of big shake occurs in horizontal direction, jitter correction appropriate can also be carried out.Inclined using above method basis Rake angle calculates balance correction limits value, stirs correction limits value and rolls correction limits value, and process enters step S312.

In step S312, correction angular speed (PitchErr) and focal length are remained based on pitching to calculate vertical translation correction It measures and vertically stirs correcting value.The vertical translation correcting value is calculated by vertical translation correction amount calculating unit 509.Figure 11 is shown The insider architecture of vertical translation correction amount calculating unit 509.By the operation of the internal block in definition graph 11.

To extremely there is the work(that can change the characteristic at any frequency band as the Err turning rate inputs of residual correction angular speed The high-pass filter (hereinafter referred to as HPF) 703 of energy, and interdict low-frequency component included in angular velocity data and export high frequency Band signal.Focal length computing unit 702 calculates the focal length of imaging optical system according to the output of the encoder of zoom unit 201, And the calculating focal length to be used that focal length multiplying unit 704 is carried out is set.Focal length multiplying unit 704 is defeated by HPF's 703 Start a work shift with the calculated focal length f of institute, and result is exported to centering unit 705.Centering unit 705 is carried out for focal length phase The output for multiplying unit 704 adds the processing of input value below (hereinafter referred to as centering amount), and the wherein input value is being more than When the big angle jitter of the correcting range used in balance correction, correction for reduction amount.Integrator 706 have can change any frequency The function of characteristic with place, the output to carrying out self-centering unit 705 integrate, and result is supplied to saturation prevent from controlling Unit 707.As described above, limit value calculating unit 508 calculates limits value according to oblique angular position, and by the limits value Being input to saturation prevents control unit 707.

Saturation prevents the progress of control unit 707 to limit the control of the size of the output from integrator 706 so that comes It is not more than or equal to the limits value exported from limit value calculating unit 508 from the output of integrator 706.In addition, from product For the size of the output of point device 706 close in the case of limits value, saturation prevents control unit 707 from carrying out following control：By HPF 703 cutoff frequency changes into high frequency side, shortens the time constant of integrator 706, and increase the centering amount of centering unit 705 Deng.Therefore, the size of the output from integrator 706 can be made to be less likely to reach limits value, can calculates and is suitble to utilize limit The Final Translation correcting value for the correcting area that value computing unit 508 processed is limited, and the balance correction amount is input to figure Distortion of image amount synthesis unit 514.

Then, using vertically stir correction amount calculating unit 510 vertically stirs correcting value to calculate.Figure 12 shows vertically to turn over The insider architecture of dynamic correction value computing unit 510.By the operation of the internal block in definition graph 12.In fig. 12, using 801~ The processing of 805 blocks indicated is roughly the same with the processing of block of 703~707 expressions is utilized in fig. 11, and difference is only It is that focal length multiplying unit 704 is replaced by the focal length unit 802 that is divided by.Therefore, it will illustrate that focal length is divided by unit 802, and omit It is directed to other pieces of explanation.

Focal length is divided by unit 802 by the 702 calculated focal length f of institute of the output of HPF 801 divided by focal length computing unit, and Result is supplied to centering unit 803.Divided by focal length f is based on for calculating the expression formula 26 and 27 stirred.Saturation prevents from controlling The output of unit 805 processed is to be input to the final of anamorphose amount synthesis unit 514 to stir correcting value.

In the case of calculating vertical translation correcting value using the above method in step S312 and vertically stir correcting value, Process enters step S313.In step S313, correction angular speed (YawErr) and focal length are remained come calculated level according to sideway Balance correction amount and level stir correcting value.

Horizontal translation correcting value is calculated by horizontal translation correction amount calculating unit 511, and level stir correcting value by Level stirs correction amount calculating unit 512 to calculate.Internal block is identical as the internal block in Figure 11 and 12, and difference is only It is the residual correction angular speed YawErr in horizontal direction being input to each piece, and computational methods are also identical, thus is omitted For the explanation of the computational methods.

Calculate horizontal translation correcting value in step S313 and in the case that level stirs correcting value, processing subsequently into Step S314.In step S314, rotation correcting value is calculated according to residual correction angular speed (RollErr) is rolled.The rotation Correcting value is calculated by rotation correction amount calculating unit 513.Figure 13 shows the inside agllutination of rotation correction amount calculating unit 513 Structure.By the operation of the internal block in definition graph 13.

To extremely there is the work(that can change the characteristic at any frequency band as the Err turning rate inputs of residual correction angular speed The high-pass filter (hereinafter referred to as HPF) 901 of energy interdicts low-frequency component included in angular velocity data, and exports high frequency Band signal.In the case where the excessive angle jitter to be corrected occurs in the inclination rotation direction of imaging sensor, with centering Unit 705 and 803 is identical, and centering unit 902 carries out the processing plus centering amount for the output to HPF 901.Integrator 903 Have the function of that the characteristic in any frequency band can be changed, the output to carrying out self-centering unit 902 integrates, and by result Supply to saturation prevents control unit 904.Saturation prevents control unit 904 from carrying out for limiting the output from integrator 903 Control so that the size of the output from integrator 903 not more than or equal to the limit exported from limit value calculating unit 508 Value processed.In addition, in the case where the size of the output from integrator 903 is close to limiting value, saturation prevent control unit 904 into The following control of row：The cutoff frequency of HPF 901 is changed into high frequency side, shortens the time constant of integrator 903, and increase and determine Centering amount of heart unit 902 etc..Therefore, the size of the output from integrator 903 can be made to be less likely to reach limits value, and And it can reduce and follow ability for the image blur correcting shaken.Saturation prevents the output of control unit 904 to be input to figure The final rotation correcting value of distortion of image amount synthesis unit 514.

In the case of calculating rotation correcting value in step S314, process enters step S315, wherein in step S315 In, calculate anamorphose amount by synthesizing correcting value.The anamorphose amount will be put down by anamorphose amount synthesis unit 514 Shift correction amount, stir correcting value and rotation correcting value synthesis institute it is calculated.Specifically, according to expression formula 14 come calculation expression 2 projection transform matrix.At this point, the deflection of amplification/diminution and shear is taken in expression formula 28, expression formula 29 and expression formula 30 Shown in be worth.Anamorphose amount synthesis unit 514 by the value of each element of calculated projection transform matrix export to figure Distortion of image unit 208.

In step S316, anamorphose unit 208 is corrected based on the output from anamorphose amount synthesis unit 514 It is fuzzy by image caused by anamorphose, and process enters step S317.

In step S317, judge user whether by giving to change for the manual operation of operating unit 211 The instruction of angle on yawing or inclined direction.If giving to change the instruction of angle, process enters step S318, Wherein in step S318, the target angle of manual setting is set, and process enters step S319.If in step S317 In be not judged as the instruction for providing to change angle manually, then keep previous value as target angle, and process enters Step S319.

By operating special SW set in camera 101 needle can be provided so that yawing/tilted target angle is arranged Manual instruction to yawing/tilt operation.It is alternatively possible to use with lower structure：Including can be in communication with each other with camera 101 External device (ED), and can notify target angle to camera 101 by the instruction from the external device (ED) for operation The target angle is arranged.It is, for example, possible to use for example following method is configured：Setting links to yawing direction respectively It turns right the button that dynamic, yawing side turns left, rotated under rotation and inclined direction on inclined direction, and according to by lower button Time span come be arranged target angle (for example, being configured so that every time have passed through time T when, to target angle add α Degree)；Or other methods may be used.

In step S319, according to the yawing jitter correction target angle that is calculated separately out in step S303 and S304 and Shake target angle and the calculated manual target angle of institute until step S318 are tilted, to calculate final goal angle Degree.The final goal angle that the instruction of yawing rotation section 407 of driving unit 212 is rotated to lens barrel will be put down by adder 405 It shakes the output of jitter correction angle calculation unit 402 and the manual target angle in yawing direction from operating unit 211 is added to Accessed value together.In addition, the final goal angle indicated to tilt rotation portion 408 will be tilted by adder 406 The output of jitter correction angle calculation unit 404 is added with the manual target angle of the inclined direction from operating unit 211 and is obtained The value got.

It in step s 320, will be on the target angle and inclined direction in step S319 on calculated yawing direction Target angle is exported respectively to yawing rotation section 407 and tilt rotation portion 408, thus carries out yawing/pitch drives.Therefore, into The jitter correction on jitter correction and inclined direction on row yawing direction, and image blur correcting routine terminates.By predetermined Sampling period carries out the processing.

As described above, in the first embodiment, for translating and stir the limits value of jitter correction amount relative to turning The ratio of the limits value of dynamic jitter correction amount changes according to angle of inclination, and according to the ratio by the volume needed for electronic calibration Exterior pixel is divided into translation and stirs jitter correction and rotation correction.Therefore, equally only have for yawing/inclination machinery In the case of the picture pick-up device of the two-axis rotating mechanism of driving etc., by ensuring to correct for the axis that cannot carry out mechanical checkout Limited additional pixels, can be efficiently used for correcting various images and obscure by a large amount of additional pixels used, and can be into The effective image blur correcting of row.

Second embodiment

In the first embodiment, it illustrates for being put down based on angle of inclination to change being directed in electronic image ambiguity correction The method for the correction limits value for moving, stirring and rotating, but the structure for including Rolling shutter distortion correction may be used.It is real second It applies in example, the setting for the limits value for the various corrections for including Rolling shutter distortion correction and its control method by explanation.

In recent years, in the picture pick-up device of digital camera and digital camera etc., commonly using the electricity with CCD compared with Power consumes lower cmos sensor as imaging sensor.CCD and cmos sensor are not only different in terms of power consumption, and And it is also different in terms of the exposure method during shooting.When shooting (shooting) image, imaging sensor in CCD it is all Phototiming in pixel and exposure period all same, and in cmos sensor, the opening/closing time pin of shutter is to constituting image Each row of sensor and it is different, thus phototiming is different.The driving method of cmos sensor etc. is known as Rolling shutter method.

If shot using the imaging sensor using this Rolling shutter method, there are following situations：Example Such as, the camera caused by movement of subject that is exposed or the photographer for keeping during exposure picture pick-up device is trembled It is dynamic, thus for each row of imaging sensor, subject movement, and be distorted in shooting image.The phenomenon that distortion It is referred to as " Rolling shutter problem " or " focal plane phenomenon ".Particularly, compared with being shot using the static image of mechanical shutter, In moving image capture without mechanical shutter, being distorted caused by Rolling shutter problem may show more obvious.

For correct due to it is in the distortion that above-mentioned Rolling shutter problem occurs, by photographer caused by camera-shake The technology of caused distortion is known, thus in the present embodiment, be omitted for this technology specifically correct say It is bright.Note that summarily say, change read-out position for each row, in the horizontal direction to correct image by camera-shake Caused distortion, and the position for the row to be read changes in vertical direction, to correct in the vertical direction in image Distortion.

Here, the method that will be described for correction Rolling shutter distortion.It will be distorted including Rolling shutter with reference in figure 14 The block diagram of the processing unit of correction illustrates anamorphose amount computing unit 409 structurally and operationally.

Anamorphose amount computing unit 409 in the second embodiment becomes with the image in first embodiment shown in Fig. 8 The block diagram of shape amount computing unit the difference is that：

1. being calculated added with vertical rolling blind shutter distortion correction amount computing unit 1302, horizontal roller shutter shutter distortion correction amount Unit 1303 and rotation Rolling shutter distortion correction amount computing unit 1304, and the output of these computing units is input to figure Distortion of image amount synthesis unit 1305,

2. limit value calculating unit 508 is replaced by limit value calculating unit 1301, lost with calculating for correcting Rolling shutter Genuine limits value, and

3. anamorphose amount synthesis unit 514 is synthesized single by the anamorphose amount of the input including Rolling shutter distortion correction Member 1305 is replaced.

It is distorted according to each Rolling shutter according to residual correction angular speed (PitchErr, YawErr and RollErr) to calculate Caused by image space amount of movement and term of reference information.Specifically, it is directed to using residual correction vibratory output to calculate The location of pixels being imaged in each location of pixels that Rolling shutter distortion is corrected corresponds to which of memory pixel position It sets, and calculates the difference of these coordinate positions as amount of movement.In addition, term of reference information is lost for correcting Rolling shutter Genuine information.In this way, the calculating of Rolling shutter distortion correction amount computing unit represents school and Rolling shutter method is used The range information and amount of movement of range in memory used in the Rolling shutter distortion occurred in camera shooting, and carry out Rolling shutter distortion correction.

Identical as the method described in first embodiment, limit value calculating unit 1301 is directed to according to angle of inclination to calculate The vertically and horizontally limits value of Rolling shutter distortion correction amount and the limits value for rotation Rolling shutter distortion correction amount.

It is identical as the method with reference to described in figure 10B, calculate limits value.Here, if Rolling shutter vertically and horizontally is distorted The ratio of correcting value is Ay and to rotate the ratio of Rolling shutter distortion correction amount be Ar, obtains limits value.It will be by according to Ay The value divided accessed by the pre-prepd range for correcting Rolling shutter distortion with the ratio of Ar is set as various The limits value of Rolling shutter distortion correction, it is possible thereby to ensure the appropriate correcting value for each shake according to angle of inclination.

It will illustrate for utilizing vertical rolling blind shutter distortion correction amount computing unit 1302 and horizontal roller shutter with reference to figure 15 Method of the shutter distortion correction amount computing unit 1303 to calculate Rolling shutter distortion correction amount.Distortion is vertical or horizontal Be only that input signal indicates PitchErr angular speed or YawErr angular speed, and carry out inside using same procedure It calculates.Pitching is remained and corrects angular speed (PitchErr) and the vertical rolling blind shutter distortion from limit value calculating unit 1301 Correction limits value is input to vertical rolling blind shutter distortion correction amount computing unit 1302.In addition, sideway is remained correction angular speed (YawErr) it is fast that the horizontal roller shutter shutter distortion correction limits value and from limit value calculating unit 1301 is input to horizontal roller shutter Door distortion correction amount computing unit 1303.

It will be as the Err turning rate inputs of residual correction angular speed to focal length multiplying unit 1401.Focal length computing unit 702 The focal length of imaging optical system is calculated according to the output of the encoder of zoom unit 201, and focal length multiplying unit is set The 1401 calculating institute focal lengths to be used carried out.Err angular speed is multiplied by focal length computing unit 702 by focal length multiplying unit 1401 The calculated focal length f of institute, and result is supplied to integrator 1402.Integrator 1402 have can change at any frequency band The function of characteristic integrates the output from focal length multiplying unit 1401, and result is supplied to saturation prevents from controlling Unit 1403.Here, integrator 1402 is initialized to 0 when imaging sensor starts exposure, and calculates exposure period Interior amount of jitter.Limit value calculating unit 1301 calculates limits value according to oblique angular position as described above, and by these Value, which is input to saturation, prevents control unit 1403.

Saturation prevents control unit 1403 using limits value to carry out clamper to the output from integrator 1402 so that comes It is not more than or equal to the limits value exported from limit value calculating unit 1301 from the output of integrator 1402.Here, such as scheming 2C like that, under angle of inclination (that is, optical axis direction of lens barrel) and Y-axis (that is, sideway rotation axis in Fig. 2 B) unanimous circumstances, can To carry out the image blur correcting in rotational direction in imaging surface by driving yawing rotating unit 105.However, cannot be into Image blur correcting in the horizontal direction in row imaging surface, thus it is expected to increase the Rolling shutter distortion correction in horizontal direction Effect.In this case, arrange parameter so that the 1301 calculated limits value of institute of limit value calculating unit increases.In addition, such as Shown in Fig. 2A, under the optical axis direction of lens barrel and Z axis (that is, rolling rotation axis as Fig. 2 B) unanimous circumstances, Ke Yitong Yawing rotating unit 105 overdrive to carry out the image blur correcting in the horizontal direction in imaging surface.Therefore, arrange parameter, So that the Rolling shutter distortion correction effect in horizontal direction is reduced.

Saturation prevents the progress of control unit 1403 to limit the control of the size of the output from integrator 1402.If The time constant of integrator 1402 increases, then the control band of Rolling shutter distortion correction is extended, and if time constant subtracts It is small, then it controls band and is reduced, and low frequency control weakens.Here, it considers the case when：The correction model of Rolling shutter distortion correction It encloses small, but vibrates Rolling shutter distortion that is big, and occurring big.In this case, the signal after integral shortly reaches limit Value processed, and there are Rolling shutter distortion corrections only for the row partly effective and Rolling shutter distortion of the first half of exposure Correction is for the completely ineffective possibility in the row part of the latter half of exposure.In view of this, under conditions of limits value reduces, The time constant of integrator is set to small so that although weakening for the calibration result of each correction row, may insure one Quantitative recoverable angle calibration result as a whole.In addition, under conditions of limits value is big, the time constant of integrator is set Set greatly so that Rolling shutter distortion correction effect enhances.

According to the above method, the size of the output from integrator 1402 can be made to be less likely to reach limits value, and The final Rolling shutter distortion correction amount of the correcting area set by suitable limit value calculating unit 1301 can be calculated.Then, The calculated Rolling shutter distortion correction amount of institute is input to anamorphose amount synthesis unit 1305, and is converted into and imaging surface On fuzzy quantity equivalence unit, and with read timing correspondingly determine correcting value.

Then, will illustrate for calculating volume in rotating Rolling shutter distortion correction amount computing unit 1304 with reference to figure 16 The method of curtain shutter distortion correction amount.

It will be as the Err turning rate inputs of residual correction angular speed to integrator 1501.Integrator 1501 has and can change The function of becoming the characteristic at any frequency band integrates Err angular speed, and result is supplied to saturation prevents control unit 1502.Here, integrator 1501 is initialized to 0 when the exposure of imaging sensor starts, and calculates in exposure period Amount of jitter.As described above, limit value calculating unit 1301 calculates limits value according to oblique angular position, and will be calculated The limits value gone out, which is input to saturation, prevents control unit 1502.

Saturation prevents control unit 1502 using limits value to carry out clamper to the output from integrator 1501 so that comes It is not more than or equal to the limits value exported from limit value calculating unit 1301 from the output of integrator 1501.Here, such as scheming 2A like that, under angle of inclination (that is, optical axis direction of lens barrel) and Z axis (that is, inclination rotation axis in Fig. 2 B) unanimous circumstances, can To carry out the image blur correcting in the horizontal direction in imaging surface by driving yawing rotating unit.However, cannot carry out The image blur correcting of edge rotation side in imaging surface, thus it is expected to increase the Rolling shutter distortion correction effect in rotation direction Fruit.In this case, arrange parameter so that the 1301 calculated limits value of institute of limit value calculating unit increases.In addition, such as Fig. 2 C like that, the optical axis direction of lens barrel under Y-axis (that is, sideway rotation axis in Fig. 2 B) unanimous circumstances, driving can be passed through Yawing rotating unit 105 carries out the image blur correcting in rotational direction in imaging surface.Therefore, arrange parameter so that turn Rolling shutter distortion correction effect on dynamic direction is reduced.

In addition, as described in reference diagram 15, by changing the time constant of integrator according to limits value, can make from integral The size of the output of device 1501 is less likely to reach limits value.It is consequently possible to calculate being suitble to set by limit value calculating unit 1301 The final rotation Rolling shutter distortion correction amount for the correcting area set.Then, the calculated rotation Rolling shutter of institute is distorted school Positive quantity is input to anamorphose amount synthesis unit 1305, is converted into the unit with the fuzzy quantity equivalence in imaging surface, and with reading Go out timing and correspondingly determines correcting value.

As described above, in the second embodiment of the present invention, for the limits value and needle for translating and stirring jitter correction amount To rotate jitter correction amount limits value and otherwise for the horizontally or vertically limits value of Rolling shutter distortion correction be directed to The ratio for rotating the limits value of Rolling shutter distortion correction changes according to angle of inclination.Then, according to the ratio, by correcting The additional pixels needed are divided into translation and stir jitter correction amount, rotation correcting value, horizontally or vertically Rolling shutter distortion correction Amount and rotation Rolling shutter distortion correction amount.Therefore, even if only with the two-axis of yawing/inclination Mechanical Driven etc. In the case of the picture pick-up device of rotating mechanism, it can also ensure to correct a large amount of volumes used for the axis that cannot carry out mechanical checkout Exterior pixel.Therefore, limited additional pixels can be efficiently used for correcting each image and obscured, and can effectively be schemed As ambiguity correction.

3rd embodiment

In the first embodiment and the second embodiment, it illustrates to be changed for flat in electronic calibration according to angle of inclination Move, stir, rotating and Rolling shutter distortion etc. correction limits value operation.However, about the axis that cannot carry out mechanical checkout, It if the amount of jitter around same axis is small, will need not be arranged greatly for the limits value of the amount of electronic correction around the axis.In third In embodiment, will be described for except according in addition to angle of inclination, also according to the big of the amount of jitter around each axis on the basis of imaging surface It is small that the method for electronic calibration limits value is set.

Figure 17 is for illustrating to calculate limit in the limit value calculating unit 508 of the block diagram for Fig. 8 in first embodiment The figure of the method for value processed.In addition to angle of inclination, also by the machinery residual correction angle as the output of subtracter 505,506 and 507 Speed (PitchErr, YawErr and RollErr) is newly input to limit value calculating unit 508.

First, focal length computing unit 702 calculates imaging optical system according to the output of the encoder of zoom unit 201 Focal length, and focal length multiplying unit 1601 and the 1602 calculating institute focal lengths to be used that are carried out are set.

Pitching is remained into correction angular speed (PitchErr) and is input to focal length multiplying unit 1601, is multiplied by focal length computing unit The 702 calculated focal length f of institute, and it is input to vibrational state amount calculator 1603.Here, it will illustrate vibrational state amount calculator 1603 internal calculation.First, the output of focal length multiplying unit 1601 is input to HPF 1604, and is removed low frequency After ingredient, it is input to absolute value converter 1605.Then, the absolute value of the output valve from HPF 1604 is calculated, and will The absolute value is input to LPF1606.Signal frequencies of the LPF 1606 in the angular speed absolute value exported from absolute value converter 1605 Blocking has been more than the radio-frequency component of set cutoff frequency in rate ingredient, and exports the low frequency less than or equal to cutoff frequency Thus ingredient calculates the vibrational state amount on the directions PitchErr.It will be with the calculated pitch correction vibration residual angular speed of institute Corresponding vibrational state amount is input to signal behavior unit 1608.

Meanwhile sideway is remained into correction angular speed (YawErr) and is input to focal length multiplying unit 1602, it is multiplied by focal length calculating The 702 calculated focal length f of institute of unit, and it is input to vibrational state amount calculator 1607.Later, using with vibrational state gauge The identical method of method of device 1603 is calculated, vibrational state amount corresponding with sideway correction residual vibration angular speed is calculated, and The vibrational state amount is input to signal behavior unit 1608.In signal behavior unit 1608, by the vibration in pitch orientation The output of quantity of state calculator 1603 is compared with the output of the vibrational state amount calculator 1607 in yaw direction, and will The larger signal of output valve is input to each limit value calculating unit 1612.

Meanwhile residual correction angular speed (RollErr) will be rolled and be input to multiplier 1609, and it is multiplied by pre-determined factor L. Then, vibrational state amount calculator 1610 is calculated and side using method identical with the method for vibrational state amount calculator 1603 Incline and correct the corresponding vibrational state amount of residual vibration angular speed, and the calculated vibrational state amount of institute is input to each limitation It is worth computing unit 1612.By from camera shooting center preset distance (for example, at the center from imaging surface until sensor by In the case that distance until the corner in light region is 100%, at position corresponding with the 80% of the distance) it is set as multiplying Value L used in the multiplication that musical instruments used in a Buddhist or Taoist mass 1609 is carried out.

In addition, the current tilt angle position from yawing/obliquity 401 is input to computation unit 1611, Using the method described in Figure 10 A and 10B with reference to first embodiment come calculated based on angle of inclination the Ky in Figure 10 A and 10B and Kr, and Ky and Kr are input to each limit value calculating unit 1612.

Here, if the output of signal behavior unit 1608 is PYErr, the output of vibrational state amount calculator 1610 is The value in total region of RErr and electronic calibration is FlLimit, and balance correction is calculated according to expression formula 42 and expression formula 43 Limits value+stir correction limits value PYLimit and rotation correction limits value RLimit.

Using the above method, corrected according to angle of inclination and based on machinery residual angular speed (PitchErr, YawErr and The value FlLimit in total region of pre-set electronic calibration is divided into balance correction by vibrational state amount RollErr) Limits value stirs correction limits value and rotation correction limits value.

As described above, based on for each axis in imaging surface residual vibration amount and angle of inclination calculate balance correction Limits value stirs correction limits value and rotation correction limits value.Therefore, even if only having such as yawing/inclination Mechanical Driven Deng two-axis rotating mechanism picture pick-up device in the case of, limited additional pixels can also be efficiently used for correcting each figure As fuzzy, and effective image blur correcting can be carried out.

Fourth embodiment

In first embodiment to 3rd embodiment, the mechanism that will be used to make lens barrel to be moved around two shaft rotations and electronics are illustrated The image blur correcting of jitter correction combination.However, in the fourth embodiment, will be described for by making imaging sensor rotate Method that is blurred image, being corrected using light shaft offset and image rotation is corrected with offset.

Figure 18 is the block diagram for the structure for showing the picture pick-up device in fourth embodiment.Exist with the difference of the block diagram of Fig. 3 In：Anamorphose unit 208 is eliminated, and as replacement, is added to imaging sensor offset and rotating unit 1701.

Imaging sensor, which deviates, and rotating unit 1701 has can make imaging sensor inclined in the horizontal or vertical directions The mechanism for moving and rotationally moving.However, it is identical as the electronic calibration of translation and rotation described in first embodiment, recoverable Range is restricted.The correction ratio of offset and rotation in fourth embodiment is also to use and the method described in first embodiment Identical method institute is calculated.Therefore, even if in the two-axis rotating mechanism only with yawing/inclination Mechanical Driven etc. Picture pick-up device in the case of, it is appropriate to be carried out by the correction that is carried out to the offset and rotation using imaging sensor Correction limitation, to carry out effective image blur correcting.

Other embodiments

The embodiment of the present invention can also be realized by following method, that is, pass through network or various storage mediums The software (program) for the function of executing above-described embodiment is supplied to system or device, the computer of the system or device or in The method that Central Processing Unit (CPU), microprocessing unit (MPU) read and execute program.

While the present invention has been described with reference to the exemplary embodiments, it should be appreciated that, the present invention is not limited to disclosed Exemplary embodiments.The scope of the appended claims meets widest explanation, to include all such modifications, equivalent structure and work( Energy.

Claims (12)

1. a kind of device for image stabilization, including：

Holding unit, for keeping camera unit, the camera unit to be formed by subject for shooting imaging optical system Image；

Rotating unit, for making the holding unit be rotated in two axis directions；

Computing unit, for the amount of movement of output and the first image blur correcting unit based on shaking detection unit, to calculate Described first image ambiguity correction unit carries out the blurred image residual correcting value after image blur correcting, wherein described tremble Dynamic detection unit is used to detect the shake of described image stabilizing equipment and described first image ambiguity correction unit is used to pass through The rotating unit is driven come in the imaging surface of the camera unit caused by correcting the shake by described image stabilizing equipment Image is fuzzy；

Second image blur correcting unit, for using the method different from the method for described first image ambiguity correction unit, To correct blurred image residual correcting value；And

Change unit, is used for the rotational angle based on the rotating unit and blurred image residual correcting value, it is described to change Second image blur correcting unit in the imaging surface of the camera unit in the horizontal direction or the image of vertical direction is fuzzy Corrected recoverable range and second image blur correcting unit in the imaging surface in rotational direction Image obscures the distribution between corrected recoverable range.

2. device for image stabilization according to claim 1, wherein

In the imaging surface in the horizontal direction or the blurred image correcting value of vertical direction include following correcting value at least it One：The blurred image correcting value along translation direction for correcting subject image；For correcting the correcting value for stirring component； And the correcting value for correcting horizontal or vertical Rolling shutter distortion.

3. device for image stabilization according to claim 1, wherein

Blurred image correcting value in rotational direction in the imaging surface includes the subject image along the rotation side To blurred image correcting value and at least one the correcting value that is distorted for correcting rotation Rolling shutter.

4. device for image stabilization according to claim 1, wherein

Second image blur correcting unit to the picture signal from the camera unit by carrying out image procossing incoming call It is fuzzy that image is corrected subly.

5. device for image stabilization according to claim 4, wherein

Axis other than two axis that rotating unit can rotate described in the main opposing connection of second image blur correcting unit is trembled It is dynamic to be corrected.

6. device for image stabilization according to claim 1, wherein

Second image blur correcting unit is by keeping the camera unit movement fuzzy to correct image.

7. device for image stabilization according to claim 6, wherein

Axis other than two axis that rotating unit can rotate described in the main opposing connection of second image blur correcting unit is trembled It is dynamic to be corrected.

8. device for image stabilization according to claim 1, wherein

The rotational angle for changing output and the rotating unit of the unit based on the shaking detection unit is described to calculate The size of image fuzzy quantity in imaging surface, and the image on the rotational angle based on the rotating unit and the imaging surface The size of fuzzy quantity, come change in the imaging surface in the horizontal direction or the blurred image recoverable range of vertical direction with And the distribution between the blurred image recoverable range in rotational direction in the imaging surface.

9. device for image stabilization according to claim 1, wherein

The shaking detection unit is mounted in the main unit for keeping the rotating unit, and further comprises converting Unit, the converting unit are used to convert the output of the shaking detection unit based on the rotational angle of the rotating unit At the shake of the holding unit.

10. device for image stabilization according to claim 1, wherein further include：

Focal length detection unit, for detecting information related with the focal length of the imaging optical system,

Wherein, the size for changing focal length of the unit based on the imaging optical system, to change taking the photograph for the camera unit In image planes in the horizontal direction or the blurred image recoverable range of vertical direction and the edge rotation side in the imaging surface To blurred image recoverable range between distribution.

11. a kind of control method of device for image stabilization, described image stabilizing equipment include：Holding unit, for keeping camera shooting Unit, the camera unit are formed by subject image for shooting imaging optical system；And rotating unit, for making It states holding unit to rotate in two axis directions, the control method includes：

The amount of movement of output and the first image blur correcting unit based on shaking detection unit, to calculate described first image mould Paste correction unit carries out the blurred image residual correcting value after image blur correcting, wherein the shaking detection unit is used for It detects the shake of described image stabilizing equipment and described first image ambiguity correction unit is used for by driving the rotation single Member obscures come the image in the imaging surface of the camera unit caused by correcting the shake by described image stabilizing equipment；

Using for using the method different from the method for described first image ambiguity correction unit to correct blurred image residual Second image blur correcting unit of correcting value, to correct blurred image residual correcting value；And

Rotational angle based on the rotating unit and blurred image residual correcting value obscure school to change second image Positive unit in the imaging surface of the camera unit in the horizontal direction or the image of vertical direction obscure it is corrected can school Positive range and second image blur correcting unit, which obscure the image in rotational direction in the imaging surface, carries out school Distribution between positive recoverable range.

12. a kind of computer readable storage medium stores program, described program is for making computer execute device for image stabilization Control method each step, described image stabilizing equipment includes：Holding unit, for keeping camera unit, the camera shooting single Member is for shooting the subject image formed by imaging optical system；And rotating unit, for making the holding unit two It is rotated in a axis direction, the control method includes：

The amount of movement of output and the first image blur correcting unit based on shaking detection unit, to calculate described first image mould Paste correction unit carries out the blurred image residual correcting value after image blur correcting, wherein the shaking detection unit is used for It detects the shake of described image stabilizing equipment and described first image ambiguity correction unit is used for by driving the rotation single Member obscures come the image in the imaging surface of the camera unit caused by correcting the shake by described image stabilizing equipment；

Using for using the method different from the method for described first image ambiguity correction unit to correct blurred image residual Second image blur correcting unit of correcting value, to correct blurred image residual correcting value；And

Rotational angle based on the rotating unit and blurred image residual correcting value obscure school to change second image Positive unit in the imaging surface of the camera unit in the horizontal direction or the image of vertical direction obscure it is corrected can school Positive range and second image blur correcting unit, which obscure the image in rotational direction in the imaging surface, carries out school Distribution between positive recoverable range.